body::applyTorque() gimbal lock

[Zuka]

Is there any way to overcome this? I'd like to use quaternions, but this function only accepts Euler angles and I can't find a single viable workaround. I'd rather not dig into the Bullet source code, but if that's what I must do, I'll do it.

Also, I'm calling this several times per tick so a costly conversion from quaternions to Euler angles is... less than preferable.

[Erwin Coumans]

torque is a force vector, not angles. Bullet uses quaternions to represent the orientation of objects.

It is not clear what kind of gimbal lock you suffer. Can you provide a repro case?
Thanks,
Erwin

[Zuka]

:O That may be the issue then. I have a spaceship that I want to rotate responding to controls. I have yaw, pitch, and roll. It seems simple enough, but how would I do this? It seems that if the ship rotates in more than one axis, everything is wrong, just like what happens with gimbal lock.

[edit] Never mind. I believe I know what the problem is now (simple mistake of assuming it was local rotation)